From the viewpoint of the constraint of house architecture, the energy consumption of differential mobile robot (DMR), and the ease of trajectory planning, a desired (or planning) trajectory made up by a set of piecewise stretching lines is addressed. Then we design the navigation with the following three modes: approach mode, fine-tune mode, and inertia navigation mode, such that the DMR can fast move to the desired trajectory in the manner of energy saving. For the localization of a DMR, the extended Kalman filter (EKF) is employed to estimate the posture of the DMR. Based on the estimated posture and the planning path, a fuzzy decentralized variable structure velocity control of the left and right wheels of the DMR is employed to accomplish the assigned task. The avoidances of various static obstacles with different shapes and sizes, and on different locations of the desired trajectory, and dynamic obstacle in the perpendicular direction of the desired trajectory are achieved by using seven ultrasonic rangers on the DMR and the designed strategy for obstacle avoidance. Finally, the localization between an EKF and a distributed active embedded vision system are compared by various experiments.